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   <div id="projectname">DM-CtrlH7-BF-DevProgram<span id="projectnumber">&#160;beta 0.1</span>
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   <div id="projectbrief">C.ONE Studio Damiao Development Board Framework</div>
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  <div class="headertitle"><div class="title">LK9025.h</div></div>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#ifndef LK9025_H</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#define LK9025_H</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span> </div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;stdint.h&quot;</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &quot;bsp_can.h&quot;</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &quot;<a class="code" href="controller_8h.html">controller.h</a>&quot;</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &quot;<a class="code" href="motor__def_8h.html">motor_def.h</a>&quot;</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;daemon.h&quot;</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#define LK_MOTOR_MX_CNT 4 </span><span class="comment">// 最多允许4个LK电机使用多电机指令,挂载在一条总线上</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#define I_MIN -2000</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#define I_MAX 2000</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#define CURRENT_SMOOTH_COEF 0.9f</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#define SPEED_SMOOTH_COEF 0.85f</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#define REDUCTION_RATIO_DRIVEN 1</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#define ECD_ANGLE_COEF_LK (360.0f / 65536.0f)</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="preprocessor">#define CURRENT_TORQUE_COEF_LK 0.00512f  </span><span class="comment">// 电流设定值转换成扭矩的系数，这里对应的是16T</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
<div class="foldopen" id="foldopen00020" data-start="{" data-end="};">
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="struct_l_k_motor___measure__t.html">   20</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span><span class="comment">// 9025</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>{</div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>    uint16_t last_ecd;        <span class="comment">// 上一次读取的编码器值</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>    uint16_t ecd;             <span class="comment">// 当前编码器值</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>    <span class="keywordtype">float</span> angle_single_round; <span class="comment">// 单圈角度</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>    <span class="keywordtype">float</span> speed_rads;         <span class="comment">// speed rad/s</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    int16_t real_current;     <span class="comment">// 实际电流</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    uint8_t temperature;      <span class="comment">// 温度,C°</span></div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span> </div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    <span class="keywordtype">float</span> total_angle;   <span class="comment">// 总角度</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    int32_t total_round; <span class="comment">// 总圈数</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    <span class="keywordtype">float</span> feed_dt;</div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    uint32_t feed_dwt_cnt;</div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>} <a class="code hl_struct" href="struct_l_k_motor___measure__t.html">LKMotor_Measure_t</a>;</div>
</div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
<div class="foldopen" id="foldopen00036" data-start="{" data-end="};">
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"><a class="line" href="struct_l_k_motor_instance.html">   36</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>{</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    <a class="code hl_struct" href="struct_l_k_motor___measure__t.html">LKMotor_Measure_t</a> measure;</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    <a class="code hl_struct" href="struct_motor___control___setting__s.html">Motor_Control_Setting_s</a> motor_settings;</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span> </div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    <span class="keywordtype">float</span> *other_angle_feedback_ptr; <span class="comment">// 其他反馈来源的反馈数据指针</span></div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    <span class="keywordtype">float</span> *other_speed_feedback_ptr;</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    <span class="keywordtype">float</span> *speed_feedforward_ptr;   <span class="comment">// 速度前馈数据指针,可以通过此指针设置速度前馈值,或LQR等时作为速度状态变量的输入</span></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    <span class="keywordtype">float</span> *current_feedforward_ptr; <span class="comment">// 电流前馈指针</span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    <a class="code hl_struct" href="struct_p_i_d_instance.html">PIDInstance</a> current_PID;</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    <a class="code hl_struct" href="struct_p_i_d_instance.html">PIDInstance</a> speed_PID;</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <a class="code hl_struct" href="struct_p_i_d_instance.html">PIDInstance</a> angle_PID;</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    <span class="keywordtype">float</span> pid_ref;</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span> </div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    Motor_Working_Type_e stop_flag; <span class="comment">// 启停标志</span></div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    CANInstance *motor_can_ins;</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    DaemonInstance *daemon;</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span> </div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>} <a class="code hl_struct" href="struct_l_k_motor_instance.html">LKMotorInstance</a>;</div>
</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span></div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span><a class="code hl_struct" href="struct_l_k_motor_instance.html">LKMotorInstance</a> *LKMotorInit(<a class="code hl_struct" href="struct_motor___init___config__s.html">Motor_Init_Config_s</a> *config);</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span></div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span><span class="keywordtype">void</span> LKMotorSetRef(<a class="code hl_struct" href="struct_l_k_motor_instance.html">LKMotorInstance</a> *motor, <span class="keywordtype">float</span> ref);</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span></div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span><span class="keywordtype">void</span> LKMotorControl();</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span></div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span><span class="keywordtype">void</span> LKMotorStop(<a class="code hl_struct" href="struct_l_k_motor_instance.html">LKMotorInstance</a> *motor);</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span></div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span><span class="keywordtype">void</span> LKMotorEnable(<a class="code hl_struct" href="struct_l_k_motor_instance.html">LKMotorInstance</a> *motor);</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>uint8_t LKMotorIsOnline(<a class="code hl_struct" href="struct_l_k_motor_instance.html">LKMotorInstance</a> *motor);</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span> </div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span><span class="preprocessor">#endif </span><span class="comment">// LK9025_H</span></div>
<div class="ttc" id="acontroller_8h_html"><div class="ttname"><a href="controller_8h.html">controller.h</a></div></div>
<div class="ttc" id="amotor__def_8h_html"><div class="ttname"><a href="motor__def_8h.html">motor_def.h</a></div><div class="ttdoc">电机通用的数据结构定义</div></div>
<div class="ttc" id="astruct_l_k_motor___measure__t_html"><div class="ttname"><a href="struct_l_k_motor___measure__t.html">LKMotor_Measure_t</a></div><div class="ttdef"><b>Definition</b> LK9025.h:21</div></div>
<div class="ttc" id="astruct_l_k_motor_instance_html"><div class="ttname"><a href="struct_l_k_motor_instance.html">LKMotorInstance</a></div><div class="ttdef"><b>Definition</b> LK9025.h:37</div></div>
<div class="ttc" id="astruct_motor___control___setting__s_html"><div class="ttname"><a href="struct_motor___control___setting__s.html">Motor_Control_Setting_s</a></div><div class="ttdef"><b>Definition</b> motor_def.h:73</div></div>
<div class="ttc" id="astruct_motor___init___config__s_html"><div class="ttname"><a href="struct_motor___init___config__s.html">Motor_Init_Config_s</a></div><div class="ttdef"><b>Definition</b> motor_def.h:131</div></div>
<div class="ttc" id="astruct_p_i_d_instance_html"><div class="ttname"><a href="struct_p_i_d_instance.html">PIDInstance</a></div><div class="ttdef"><b>Definition</b> controller.h:57</div></div>
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